System for four collaborative robots and humans in a narrowing work envelope

ABSTRACT

A method and apparatus for supporting collaborative robots and humans in a narrowing work envelope. A base platform is provided, and a work platform is positioned above the base platform for supporting one or more humans, wherein the work platform is narrower than the base platform, and the work platform is positioned relative to the base platform to provide areas for positioning one or more robots on one or more sides of the work platform. The robots are supported on the base platform independently of the work platform, so that movement of the work platform does not affect the robots&#39; positions.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is related to the following co-pending andcommonly-assigned application:

U.S. Utility application Ser. No. ______, filed on same date herewith,by John Miller and Dennis Mathis, entitled “ISOLATED HUMAN WORK PLATFORMFOR STABILIZED POSITIONING OF COLLABORATIVE ROBOTICS,” docket number15-2844-US-NP;

U.S. Utility application Ser. No. ______, filed on same date herewith,by John Miller and Dennis Mathis, entitled “CABLE CARRIER CROSSOVERSUPPLYING FOUR NON-STATIC LOCATIONS,” docket number 16-1437-US-NP; and

U.S. Utility application Ser. No. ______, filed on same date herewith,by John Miller and Dennis Mathis, entitled “BELT DRIVE DUAL ROBOTGANTRY,” docket number 16-1440-US-NP;

all of which applications are incorporated by reference herein.

BACKGROUND INFORMATION 1. Field

The disclosure is related generally to robotics and more specifically toan isolated human work platform for stabilized positioning ofcollaborative robotics.

2. Background

Aircraft manufacturers typically rely on work cell automation during thebuild process for a fuselage assembly. A typical work cell includes aworkstand and one or more cradle fixtures to hold and position thefuselage assembly.

Currently, robots are used outside the fuselage assembly, and some workinside the fuselage assembly is performed by robots as well. However, itis desired to increase the use of robots inside the fuselage assembly,as well provide humans with safe access while the robots operate withinthe fuselage assembly.

However, platforms used inside the fuselage assembly are not isolatedand, as a result, end-of-arm tooling on robots inside the fuselageassembly may bounce or otherwise be impacted due to platform movementcaused by human or machine motion nearby, which results in theend-of-arm tooling on the robots being in the wrong location orposition.

There is a need, then for a work platform that allows humans to worksafely inside the fuselage assembly, and that provides isolated supportfor human and machine motion without imparting any of that motion to therobots working inside the fuselage assembly.

SUMMARY

To overcome the limitations in the prior art described above, and toovercome other limitations that will become apparent upon reading andunderstanding the present specification, the present disclosuredescribes a method and apparatus for supporting collaborative robots andhumans in a narrowing work envelope.

A base platform is provided, and a work platform is positioned above thebase platform for supporting one or more humans, wherein the workplatform is narrower than the base platform, and the work platform ispositioned relative to the base platform to provide areas forpositioning one or more robots on one or more sides of the workplatform. The robots are supported on the base platform independently ofthe work platform, so that movement of the work platform does not affectthe robots' positions.

The features, functions, and advantages that have been discussed can beachieved independently in various embodiments or may be combined in yetother embodiments further details of which can be seen with reference tothe following description and drawings.

DRAWINGS

Referring now to the drawings in which like reference numbers representcorresponding parts throughout:

FIG. 1 illustrates a typical work cell layout for assembly of anaircraft fuselage, according to one embodiment.

FIGS. 2A and 2B are perspective side and top views of the work celllayout, according to one embodiment.

FIGS. 3A and 3B further illustrate a configuration of a work platform,according to one embodiment, wherein FIG. 3A is a side perspective viewof the work platform and FIG. 3B is a bottom view of the work platformshowing its underside.

FIGS. 4A, 4B and 4C further illustrate the configuration of the workplatform, robots, gantries and cable carrier system, according to oneembodiment, wherein FIG. 4A is a side perspective view of the workplatform, robots and gantries; FIG. 4B is a top view of the workplatform, robots and gantries; and FIG. 4C is a bottom view of the workplatform, robots, gantries and cable carrier system, showing theirunderside.

FIG. 5 is a cutaway view of the work platform positioned above the baseplatform, according to one embodiment, wherein the cutaway view showsonly half of the work platform.

FIG. 6 provides a view where the work platform has been removed,according to one embodiment, leaving only the gantries, cable carriersystem, individual support stands and robots.

FIG. 7 is another view of the gantry on one side of the work platform,as well as the individual support stands attached to the gantry, withthe robots omitted, according to one embodiment.

FIG. 8 is another view of the gantry on one side of the work platform,as well as the individual support stands attached to the gantry, showingdetails of the dual drive belts, according to one embodiment.

FIG. 9 illustrates the steps of an aircraft manufacturing and servicemethod, according to one embodiment.

FIG. 10 illustrates an aircraft and its components, according to oneembodiment.

DETAILED DESCRIPTION

In the following description, reference is made to the accompanyingdrawings which form a part hereof, and in which is shown by way ofillustration a specific example in which the disclosure may bepracticed. It is to be understood that other examples may be utilizedand structural changes may be made without departing from the scope ofthe present disclosure.

FIG. 1 illustrates a typical work cell 10 layout that includes one ormore cradle fixtures 12 to hold and position a fuselage assembly 14 ofan aircraft. Currently, robots are used outside the fuselage assembly14, and some work inside the fuselage assembly 14 is performed by robotsas well. However, it is desired to provide an apparatus for stabilizedpositioning of collaborative robotics inside the fuselage assembly 14.

In this disclosure, the fuselage assembly 14 is positioned adjacent aworkstand 16 that includes a base platform 18 positioned inside thefuselage assembly 14. (Some of the support structures for the workstand16 are omitted from this view in the interests of clarity.) The baseplatform 18 is independently supported within the fuselage assembly 14by the workstand 16.

A work platform 20, which is an isolated motion platform, is positionedrelative to the base platform 18. In one embodiment, the work platform20 is positioned above the base platform 18.

One or more robots 22 are positioned inside the fuselage assembly 14 andsupported on the base platform 18 independently of the work platform 20,so that any movement of the work platform 20, for example, flexing orshaking due to movement on the work platform 20 does not affect theposition of the robots 22 or the base platform 18.

The robots 22 are supported independently of the work platform 20 ongantries 24 positioned on both sides of the work platform 20. Thegantries 24 are mounted on and supported by the base platform 18independently of the work platform 20. The gantries 24, positioned abovethe base platform 18 and underneath the work platform 20, are used forpositioning the robots 22 along a length of the work platform 20. Therobots 22 are placed on individual support stands 26, which are mountedon the gantries 24.

The robots 22 are provided with power, control and communication, aswell as parts supply and return, via a cable carrier system 28. Thecable carrier system 28 is positioned on or above the base platform 18and underneath the work platform 20 to provide a compact solution forsupplying the robots 22.

The work platform 20 has a profile height above the base platform 18inside of the fuselage assembly 14. This profile height allows humans 30to access the inside of the fuselage assembly 14 while standing on thework platform 20. In one embodiment, the profile height is 12 inches orless, although other embodiments may have a profile height that is morethan 12 inches.

At the same time, the work platform 20 sets the humans 30 at the correctheight to easily reach areas of work in the fuselage assembly 14.Moreover, the fuselage assembly 14 may be rotated, so that the humans 30can reach upper or lower areas of work in the fuselage assembly 14. Inone example, there is no need for ladders when the humans 30 work in thefuselage assembly 14.

The robots 22 and individual support stands 26 are positioned on thegantries 24 slightly above the base platform 18, and extend above thework platform 20 to a height necessary to position the robots 22 for anoptimum reach within a work area. In one embodiment, the robots 22 andindividual support stands 26 have a combined height of about 30 inches,which is about 18 inches above the 12 inch height of the work platform20, although other embodiments may have a combined height that is lessor more than 30 inches.

The base platform 18 and work platform 20 together provide acollaborative workspace for the robots 22 and humans 30 within thefuselage assembly 14. The work platform 20 is isolated from the robots22 for stabilized positioning of the robots 22. Specifically, the workplatform 20 provides isolated support for movement thereon withoutimparting any motion to the robots 22, thereby eliminating positioningerrors caused by flexing, vibrations or fluctuations in the workplatform's 20 height due to movement of the work platform 20.

FIGS. 2A and 2B are perspective side and top views of the work cell 10layout, respectively, with the cradle fixture 12 and fuselage assembly14 omitted, wherein the shape and position of the fuselage assembly 14are indicated by dashed lines. These figures show the workstand 16positioned at one end of the fuselage assembly 14 to independentlysupport the base platform 18, as well as the work platform 20, both ofwhich are suspended within the fuselage assembly 14.

These views illustrate an apparatus for supporting four collaborativerobots 22 and humans 30 in a narrowing work envelope, for example, anaft/tail section and a nose section of the fuselage assembly 14.Specifically, in one embodiment, the work platform 20 is narrower thanthe base platform 18. The work platform 20 is positioned relative to thebase platform 18 to provide areas 32 for moving or positioning therobots 22 and individual support stands 26, as well as humans 30, on oneor more sides of the work platform 20.

The work platform 20 is tapered along its length, to fit the narrowingfuselage assembly 14, with a front end 20 a that is wider than a backend 20 b. The front end 20 a of the work platform 20 is positioned at aforward end of the fuselage assembly 14 and the back end 20 b of thework platform 20 is positioned at an aft end of the fuselage assembly14.

The tapered configuration of the work platform 20 is used to exposeareas 32 of the base platform 18 sufficient for the robots 22 and humans30 to traverse the base platform 18 and maneuver around the workplatform 20 for times when the robots 22 need to be serviced orinspected in position. This tapered configuration also allows the use ofthe same robots 22 for tapered as well as cylindrical sections of thefuselage assembly 14.

In another embodiment, the work platform 20 has a straightconfiguration, rather than a tapered configuration. This straightconfiguration could be used for cylindrical sections of the fuselageassembly 14.

Once the fuselage assembly 14 is in position, an end-of-platform support34 is positioned and interlocked to the back end 20 b of the workplatform 20 to secure the position of the work platform 20. In oneembodiment, the end-of-platform support 34 comprises a structure that isitself supported independently of the workstand 16 and base platform 18.

The work platform 20 also includes a ramp portion 20 c, adjacent thefront end 20 a, that is secured through the base platform 18 and theworkstand 16, wherein the ramp portion 20 c promotes human 30 and toolcart access to the work platform 20. In addition, a ledge 20 d isprovided along one (or both) sides of the work platform 20 for humans 30to stand on.

FIGS. 3A and 3B further illustrate the configuration of the workplatform 20. FIG. 3A is a side perspective view of the work platform 20,taken on the line 3A-3A of FIG. 2A looking in the direction of thearrows; and FIG. 3B is a bottom view of the work platform 20 showing itsunderside, taken on the line 3B-3B of FIG. 3A looking in the directionof the arrows.

In one embodiment, the work platform 20 has a tapered configuration,with the wider portion 20 a (the front end 20 a) at a forward end of thework platform 20 and the narrower portion 20 b (the back end 20 b) at anaft end of the work platform 20. The work platform 20 also includes theramp portion 20 c adjacent to the front end 20 a, which angles downwardfrom the work platform 20 to reside on or above the base platform 18(not shown).

In addition, the work platform 20 has a planar top surface 20 a, 20 b,20 c as shown in FIG. 3A and a ribbed bottom surface 20 e withlongitudinal struts 20 f as shown in FIG. 3B. FIG. 3b also shows theunderside of the ledge 20 d of the work platform 20. FIGS. 4A, 4B and 4Cfurther illustrate the configuration of the work platform 20, robots 22,gantries 24, individual support stands 26 and cable carrier system 28.FIG. 4A is a side perspective view of the work platform 20 (includingthe front end 20 a, back end 20 b and ramp 20 c), robots 22, gantries 24and individual support stands 26, taken on the line 4A-4A of FIG. 2Blooking in the direction of the arrows; FIG. 4B is a top view of thework platform 20 (including the front end 20 a, back end 20 b, ramp 20 cand ledge 20 d), robots 22, gantries 24 and individual support stands26, taken on the line 4B-4B of FIG. 4A looking in the direction of thearrows; and FIG. 4C is a bottom view of the work platform 20 (includingthe front end 20 a, back end 20 b, ramp 20 c, ledge 20 d and struts 20f), robots 22, gantries 24, individual support stands 26 and cablecarrier system 28, taken on the line 4C-4C of FIG. 4A looking in thedirection of the arrows.

In one embodiment, there are separate gantries 24 on each side of thework platform 20. Each of the robots 22 are placed upon an individualsupport stand 26 that is attached to their respective gantries 24. Therobots 22 and the individual support stands 26 are fully supported bythe gantries 24, which in turn are supported by the base platform 18(not shown), and are not affected by motion of the work platform 20.

In designing the gantries 24, the need was identified to independentlyposition two robots 22 on each side of the work platform 20 using only asingle gantry 24. Current systems only allow for one robot to bepositioned along a gantry 24. In this embodiment, the single gantry 24allows for independent control to drive two robots 22 on one side of thework platform 20 to their respective specified locations using highprecision.

Each of the two robots 22 on one side of the work platform 20 are movedlaterally along the side of the work platform 20 via the single gantry24. Specifically, the gantry 24 allows each of the robots 22 to travel asubstantial portion of the length of the work platform 20 on one side ofthe work platform 20, except for the space occupied by the other robot22, as well as the space on the opposite side of the other robot 22.

In one embodiment, the cable carrier system 28 is positioned at leastpartially underneath the work platform 20 and conforms to a taperedconfiguration of the work platform 20. The cable carrier system 28provides a set of cables 36 for each of the robots 22. Although shown asindividual elements, each of the cables 36 may comprise a bundle ofpower, control and communication cables, as well as parts supply andreturn tubes.

The cable carrier system 28 is designed to be integrated with the workplatform 20, but can be used independently of it. In designing the cablecarrier system 28, there were no available concepts for stacking andnesting two pairs of cables 36 that would provide service to four robots22 in a narrowing tapered configuration, within a compact space betweenthe base platform 18 and the work platform 20. The cable carrier system28 provides a unique method for stacking and nesting pairs of the cables36 to the robots 22 on each side of the work platform 20, while keepingthe cables 36 from interfering with each other and still allowing for afull range of motion.

In addition, the longitudinal struts 20 f of the work platform 20support at least portions of the cables 36 above the base platform 18,for stacking the pairs of cables 36, so that they do not interfere witheach other. Specifically, an upper cable 36 in a pair is supported bythe longitudinal struts 20 f above a lower cable 36 in the pair, whichallows the upper cable 36 to glide over the lower cable and the lowercable 36 to glide under the upper cable 36, without the cables 36 makingcontact.

FIG. 5 is a cutaway view of the work platform 20 positioned above thebase platform 18, wherein the cutaway view shows only the left half ofthe work platform 20, with the right half of the work platform 20removed, taken on the line 5-5 of FIG. 2A looking in the direction ofthe arrows.

The front end 20 a of the work platform 20 is mounted on one or morerisers 38, 40 mounted on the base platform 18, while the back end 20 bof the work platform 20 is cantilevered above the base platform 18. Oncethe fuselage assembly 14 is in position, the end-of-platform support 34is positioned and interlocked to the back end 20 b of the work platform20 to secure the position of the work platform 20.

The riser 38 is also a support structure, and is comprised of a bottomflange 38 a, a triangular-shaped vertical web element 38 b, and a topflange 38 c, wherein the triangular-shaped vertical web element 38 bconnects the bottom flange 38 a to the top flange 38 c. The bottomflange 38 a is mounted on the base platform 18, and the work platform 20is mounted on the top flange 38 c.

Similarly, the riser 40 is a support structure, and is comprised of abottom flange 40 a, a triangular-shaped vertical web element 40 b, and atop flange 40 c, wherein the triangular-shaped vertical web element 40 bconnects the bottom flange 40 a to the top flange 40 c. The bottomflange 40 a is mounted on the base platform 18, and the work platform 20is mounted on the top flange 40 c.

Note that only a portion of the riser 40 is shown with the right half ofthe work platform 20 removed, e.g., about half of the riser 40, with theremaining portion of the riser 40 hidden underneath the left half of thework platform 20. Note also that there is another riser 38 hiddenunderneath the left half of the work platform 20, wherein the hiddenriser 38 is positioned on the opposite side of the riser 38 shown inFIG. 5.

The ramp portion 20 c of the work platform 20 is also mounted on therisers 38, 40 to provide easy access from the base platform 18. The rampportion 20 c of the work platform 20 is supported on or above thetriangular-shaped vertical web element 38 b. The ramp portion 20 c ofthe work platform 20 also is supported on or above the triangular-shapedvertical web element 40 b.

The risers 38, 40 for the work platform 20 are positioned on the baseplatform 18 in such a way that they do not interfere with the gantries24 or the cable carrier system 28. The risers 38, 40 allow the gantries24 and the cable carrier system 28 to be positioned between the workplatform 20 and the base platform 18.

In one embodiment, the riser 40 also includes a support section 40 d forat least portions of the cables 36 positioned midway up the vertical webelement 40 b, for stacking the pairs of cables 36, so that they do notinterfere with each other. Specifically, an upper cable 36 in a pair issupported by the support section 40 d above a lower cable 36 in thepair, which allows the upper cable 36 to glide over the lower cable andthe lower cable 36 to glide under the upper cable 36, without the cables36 making contact.

As noted above, in one embodiment, there is one gantry 24 positionedadjacent to each inside edge of the work platform 20 for moving therobots 22 along a length of the work platform 20. The gantry 24 isconstructed of a steel main square support tube 42 that is anchored nearthe riser 38 at one end, i.e., a forward end 18 a, of the base platform18, so that the weight of the gantry 24 is supported from the forwardend 18 a of the base platform 18. A remainder of the steel main squaresupport tube 42 is cantilevered and positioned above the base platform18 towards another end, i.e., an aft end 18 b, of the base platform 18,so that the gantry 24 is isolated from motion of the work platform 20.The steel main square support tube 42 is then coupled to theend-of-platform support 34 at the aft end 18 b of the base platform 18.Another gantry 24 is present on the left side of the work platform 20,in a mirror image of the gantry 24 shown, but is obscured by the workplatform 20 in this view.

The work platform 20 also includes one or more removable access panels44. In the example of FIG. 5, there is one access panel 44 in the lefthalf of the work platform 20 shown, but there would be similarly placedaccess panel in the right half of the work platform 20 that is omitted.The removable access panels 44 are designed to provide access tocomponents of the gantry 24 and cable carrier system 28 underneath thework platform 20, e.g., for repair, installation and/or removal.

FIG. 6 provides a view where the work platform 20 has been removed, butwith its outline indicated in dashed lines, leaving only the robots 22,gantries 24, individual support stands 26 and cable carrier system 28.

The cable carrier system 28 maintains the cables 36 a, 36 b, 36 c, 36 din a crossover configuration in the space between the base platform 18and the work platform 20. Specifically, the cable carrier system 28positions the four cables 36 a, 36 b, 36 c, 36 d to independently supplythe four robots 22 a, 22 b, 22 c, 22 d without interfering with eachother and still allowing for a full range of motion for the cables 36 a,36 b, 36 c, 36 d.

The shape of the work platform 20 helps to guide the cable carriersystem 28. In addition, sections of the cables 36 a and 36 c are pinnedat 28 a and sections of the cables 36 b and 36 d are pinned at 28 b,where they crossover, in order to pivot, which allows the cables 36 a,36 b, 36 c, 36 d to go from a minimum to maximum radius without slidingfrom the pinned locations at 28 a, 28 b, which keeps the correct amountof cable 36 a, 36 b, 36 c, 36 d in place at all times. The pinning ofthe cables 36 a, 36 b, 36 c, 36 d at 28 a, 28 b prevents the cables 36a, 36 b, 36 c, 36 d from slipping backward through the crossover areaand interfering with any opposing set of cables 36 a, 36 b, 36 c, 36 d.

The cables 36 a, 36 b or 36 c, 36 d for the robots 22 a, 22 b or 22 c,22 d on a first side of the work platform 20 are fed in from a secondside of the work platform 20 opposite the first side of the workplatform 20 at a first end of the work platform 20, and the cables 36 a,36 b or 36 c, 36 d for the robots 22 a, 22 b or 22 c, 22 d on the secondside of the work platform 20 are fed in from the first side of the workplatform 20 opposite the second side of the work platform 20 at thefirst end of the work platform 20. For example, the cables 36 a, 36 bfor the two robots 22 a, 22 b on a right-side of the work platform 20lay on the base platform 18 and are fed in from a left-side of the baseplatform 18 at the front end 20 a of the work platform 20. The cables 36c, 36 d for the two robots 22 c, 22 d on the left-side of the workplatform 20 are fed in from the right-side of the work platform 20 atthe front end 20 a of the work platform 20.

In the cable carrier system 28, the cables 36 a, 36 b, 36 c, 36 d arecrisscrossed to communicate with the robots 22 a, 22 b, 22 c, 22 d, sothat the cables 36 a, 36 b, 36 c, 36 d flow from adjacent the front end20 a on one side of the work platform 20 to adjacent the back end 20 band the front end 20 a on an opposite side of the work platform 20. Forexample, cable 36 a connects to robot 22 a; cable 36 b connects to robot22 b; cable 36 c connects to robot 22 c; and cable 36 d connects torobot 22 d. Cables 36 a and 36 b flow from adjacent the front end 20 aof the work platform 20 on the left-side of the work platform 20 toadjacent the back end 20 b and the front end 20 a of the work platform20 on the right-side of the work platform 20. Cables 36 c and 36 d flowfrom adjacent the front end 20 a of the work platform 20 on theright-side of the work platform 20 to adjacent the back end 20 b and thefront end 20 a of the work platform 20 on the left-side of the workplatform 20.

The cables 36 a, 36 b, 36 c, 36 d are stacked and nested so that a firstone of the cables 36 a, 36 b or 36 c, 36 d can reach any location aft(towards the back end 20 b) of a second one of the cables 36 b, 36 a or36 d, 36 c, and the second one of the cables 36 a, 36 b or 36 c, 36 dcan reach any location forward (towards the front end 20 a) of the firstone of the cables 36 b, 36 a or 36 d, 36 c. For example, the cables 36a, 36 b are stacked and nested so that the cable 36 a can reach anylocation aft (towards the back end 20 b) of the cable 36 b and the cable36 b can reach any location forward (towards the front end 20 a) of thecable 36 a. Similarly, the cables 36 c, 36 d are stacked and nested sothat the cable 36 c can reach any location aft (towards the back end 20b) of the cable 36 d and the cable 36 d can reach any location forward(towards the front end 20 a) of the cable 36 c.

In addition, the cables 36 a, 36 b, 36 c, 36 d are stacked and nested,so that on each side of the work platform 20, a first one of the robots22 a, 22 b, 22 c, 22 d can travel towards a first end (20 a or 20 b) ofthe work platform 20, while a second one of the robots 22 a, 22 b, 22 c,22 d travels towards a second end (20 b or 20 a) of the work platform20, without the cables 36 a, 36 b, 36 c, 36 d interfering with eachother. For example, one robot 22 a can travel towards the front end 20 aof the work platform 20, while another robot 22 b travels towards theback end 20 b of the work platform 20, without the cables 36 a, 36 binterfering with each other; and one robot 22 c can travel towards thefront end 20 a of the work platform 20, while another robot 22 d travelstowards the back end 20 b of the work platform 20, without the cables 36c, 36 d interfering with each other.

Otherwise, there would be the problem of potential restriction ofmovement of the four robots 22 a, 22 b, 22 c, 22 d. Current cable tracksystems do not nest and stack in a crossing pattern to provide the fullreach that is required in this configuration. The cable carrier system28 allows for the cables 38, 38 b, 38 c, 38 d to be connected to therobots 22 a, 22 b, 22 c, 22 d in a very small workspace while notinterfering with each other.

FIG. 7 is another view of the gantry 24 on one side of the work platform20 (not shown), as well as the individual support stands 26 a, 26 battached to the gantry 24, with the robots 22 omitted. In designing thegantry 24, the need was identified to independently position two robots22 by using only a single gantry 24. Current systems only allow for onerobot to be positioned along a gantry. This system allows forindependent control to drive both robots 22 to specified locations on asingle gantry 24 using high precision.

The gantry 24 includes a plurality of drive belts 46 a, 46 b forindependently positioning the individual support stands 26 a, 26 b (andthe robots 22 placed thereon). In one embodiment, there are two belts 46a, 46 b running along the length of the gantry 24, wherein the two belts46 a, 46 b are positioned vertically with respect to each other. In oneembodiment, the top belt 46 a drives the aft individual support stand 26a, and the bottom belt 46 b drives the forward individual support stand26 b, although this may be reversed in other embodiments.

Each of the individual support stands 26 a, 26 b on one side of the workplatform 20 are moved laterally along the side of the work platform 20via the drive belts 46 a, 46 b. Specifically, the drive belts 46 a, 46 ballow each of the individual support stands 26 a, 26 b to travel thelength of the work platform 20, except for the space occupied by theother individual support stand 26 a, 26 b, on one side of the workplatform 20.

Each of the individual support stand 26 a, 26 b includes a base 48 thatextends underneath the main square support tube 42 of the gantry 24 tocounter-balance the individual support stand 26 a, 26 b (and the robot22 placed thereon).

The main square support tube 42 is comprised of two guide rails 50 a, 50b, comprising an upper guide rail 50 a and a lower guide rail 50 b. Eachof the individual support stands 26 a, 26 b includes a bracket 52 thatmounts the base 48 to the guide rails 50 a, 50 b of the gantry 24 toprovide for movement and support of the individual support stand 26 a,26 b (and the robot 22 placed thereon).

Each of the individual support stands 26 a, 26 b are cantilevered fromthe rails 50 a, 50 b, so that the individual support stand 26 a, 26 b(and the robot 22 placed thereon) are supported from an inboard side ofthe gantry 24, and the weight of the individual support stand 26 a, 26 band the robots 22 does not affect either the base platform 18 duringpositioning of the fuselage assembly 14 or the work platform 20.

The bracket 52 of the individual support stands 26 a, 26 b also includesone or more bearing blocks 54 a, 54 b that are attached to both ends ofone of the drive belts 46 a, 46 b. A belt tensioning mechanism 56connects the bearing blocks 54 a, 54 b and ensures that a proper tensionis maintained on the drive belt 46 a, 46 b.

Cables 36 for the robots 22 are supported by the base 48 of theindividual support stand 26 a, 26 b, and are routed through an aperture58 in the bracket 52 of the individual support stand 26 a, 26 b to therobot 22 placed thereon.

FIG. 8 is another view of the gantry 24 on one side of the work platform20, as well as the individual support stands 26 attached to the gantry24, showing details of the dual drive belt 46 a, 46 b.

In one embodiment, each of the belts 46 a, 46 b includes a motor 60 a,60 b, and one or more pulleys 62 a, 62 b. Specifically, the top belt 46a is driven by pulley motor 60 a, wherein the belt 46 a is wrappedaround pulleys 62 a, and the bottom belt 46 b is driven by pulley motor60 b, wherein the belt 46 b is wrapped around pulleys 62 b. Pulleys 62a, 62 b are used so that the drive motors 60 a, 60 b are positioned neara forward end of the work platform 20 for ease of access for maintenancevia access panels 44. A similar configuration of pulleys 62 a, 62 b arepositioned at the other end of the gantry 24, but without the motors 60a, 60 b.

The forward sides of the belts 46 a, 46 b are exposed on the main squaresupport tube 42 between the upper rail guide 50 a and lower rail guide50 b. The return sides of the belts 46 a, 46 b are internal to the mainsquare support tube 42.

Finally, cabling 36 for the robot 22 lays in the base 48, threadsthrough the aperture 58 in the bracket 52, and extends underneath thelower guide rail 50 b as well as the belts 46 a, 46 b.

Airplane Assembly

Embodiments of the disclosure may be described in the context of anaircraft manufacturing and service method 64 comprised of steps 66-78 asshown in FIG. 9 and an aircraft 80 comprised of components 82-94 asshown in FIG. 10.

As shown in FIG. 9, during pre-production, exemplary method 64 mayinclude specification and design 66 of the aircraft 80 and materialprocurement 68. During production, component and subassemblymanufacturing 70 and system integration 72 of the aircraft 80 takesplace. Thereafter, the aircraft 80 may go through certification anddelivery 74 in order to be placed in service 76. While in service 76 bya customer, the aircraft 80 is scheduled for routine maintenance andservice 78 (which includes modification, reconfiguration, refurbishment,and so on). The base platform 18, work platform 20, robots 22 and otherelements as described herein can be used at least in steps 70 and 72 ofmethod 64.

Each of the processes of method 64 may be performed or carried out by asystem integrator, a third party, and/or an operator (e.g., a customer).For the purposes of this description, a system integrator may includewithout limitation any number of aircraft manufacturers and major-systemsubcontractors; a third party may include without limitation any numberof venders, subcontractors, and suppliers; and an operator may be anairline, leasing company, military entity, service organization, and soon.

As shown in FIG. 10, the aircraft 80 produced by exemplary method 64 mayinclude an airframe 82 with a plurality of systems 84 and an interior86. Examples of high-level systems 84 include one or more of apropulsion system 88, an electrical system 90, a hydraulic system 92,and an environmental system 94. Any number of other systems may beincluded. Although an aerospace example is shown, the principles of thedisclosure may be applied to other industries, such as the automotiveindustry.

Apparatus and methods embodied herein may be employed during any one ormore of the stages of the production method 64. For example, componentsor subassemblies corresponding to production process 70 may befabricated or manufactured in a manner similar to components orsubassemblies produced while the aircraft 80 is in service 76. Also, oneor more apparatus embodiments, method embodiments, or a combinationthereof may be utilized during the production stages 70 and 72, forexample, by substantially expediting assembly of or reducing the cost ofan aircraft 80. Similarly, one or more of apparatus embodiments, methodembodiments, or a combination thereof may be utilized while the aircraft80 is in service 76, for example and without limitation, to maintenanceand service 78.

Alternatives

The description of the examples set forth above has been presented forpurposes of illustration and description, and is not intended to beexhaustive or limited to the examples described. Many alternatives,modifications and variations may be used in place of the specificelements described above.

What is claimed is:
 1. An apparatus for supporting collaborative robotsand humans in a narrowing work envelope, comprising: a base platform; awork platform positioned above the base platform for supporting one ormore humans, wherein the work platform is narrower than the baseplatform, and the work platform is positioned relative to the baseplatform to provide areas for positioning one or more robots on one ormore sides of the work platform; and the robots are supported on thebase platform independently of the work platform, so that movement ofthe work platform does not affect the robots' positions.
 2. Theapparatus of claim 1, wherein the work platform is positioned relativeto the base platform to provide areas for the humans to move along thebase platform on one or more sides of the work platform.
 3. Theapparatus of claim 2, wherein the work platform is tapered along itslength, with a front end that is wider than a back end, to expose areasof the base platform sufficient for the humans and robots to traversethe base platform and maneuver around the work platform.
 4. Theapparatus of claim 3, wherein the base platform and work platform arepositioned within a fuselage assembly of an aircraft.
 5. The apparatusof claim 4, wherein the front end of the work platform is positioned ata forward end of the fuselage assembly and the back end of the workplatform is positioned at an aft end of the fuselage assembly.
 6. Theapparatus of claim 4, wherein the base platform and work platformtogether have a low profile height that allows the humans to accessinside the fuselage assembly while standing on the work platform.
 7. Theapparatus of claim 3, wherein the work platform includes a ramp portionadjacent to the front end of the work platform, and the ramp portionangles downward from the work platform to reside on or above the baseplatform.
 8. The apparatus of claim 3, wherein the work platform ismounted on one or more risers above the base platform at the front endof the work platform, while the back end of the work platform iscantilevered above the base platform.
 9. The apparatus of claim 8,wherein the back end of the work platform is coupled to a supportstructure.
 10. The apparatus of claim 8, wherein the risers are supportstructures comprised of a bottom flange, a top flange, and atriangular-shaped vertical web element that connects the bottom flangeto the top flange, the bottom flange is mounted on the base platform,and the work platform is mounted on the top flange.
 11. The apparatus ofclaim 10, wherein a ramp portion of the work platform is supported onthe triangular-shaped vertical web element.
 12. The apparatus of claim1, further comprising at least one gantry positioned relative to thework platform for moving the robots along a length of the work platform.13. The apparatus of claim 12, wherein the gantry conforms to a taperedconfiguration of the work platform.
 14. The apparatus of claim 12,wherein the gantry is anchored and cantilevered at one end of the baseplatform, so that a remainder of the gantry is positioned above the baseplatform.
 15. The apparatus of claim 1, further comprising a cablecarrier system for providing the robots with at least one of power,control, communications, parts supply and return.
 16. The apparatus ofclaim 15, wherein the cable carrier system is positioned underneath thework platform and conforms to a tapered configuration of the workplatform.
 17. The apparatus of claim 1, wherein the work platformincludes one or more removable access panels that provide access tocomponents underneath the work platform for repair, installation orremoval.
 18. A method of supporting collaborative robots and humans in anarrowing work envelope, comprising: providing a base platform;positioning a work platform above the base platform for supporting oneor more humans, wherein the work platform is narrower than the baseplatform, and the work platform is positioned relative to the baseplatform to provide areas for positioning one or more robots on eitheror both sides of the work platform; and supporting the robots on thebase platform independently of the work platform, so that movement ofthe work platform does not affect the robots' positions.
 19. The methodof claim 18, wherein the work platform is positioned relative to thebase platform to provide areas for the humans to move along the baseplatform on one or more sides of the work platform.
 20. The method ofclaim 19, wherein the work platform is tapered along its length, with afront end that is wider than a back end, to expose areas of the baseplatform sufficient for the humans and robots to traverse the baseplatform and maneuver around the work platform.
 21. The method of claim20, wherein the base platform and work platform are positioned within afuselage assembly of an aircraft.
 22. The method of claim 21, whereinthe front end of the work platform is positioned at a forward end of thefuselage assembly and the back end of the work platform is positioned atan aft end of the fuselage assembly.
 23. The method of claim 21, whereinthe base platform and work platform together have a low profile heightthat allows the humans to access inside the fuselage assembly whilestanding on the work platform.
 24. The method of claim 20, wherein thework platform includes a ramp portion adjacent to the front end of thework platform, and the ramp portion angles downward from the workplatform to reside on or above the base platform.
 25. The method ofclaim 20, wherein the work platform is mounted on one or more risersabove the base platform at the front end of the work platform, while theback end of the work platform is cantilevered above the base platform.26. The method of claim 25, wherein the back end of the work platform iscoupled to a support structure.
 27. The method of claim 25, wherein therisers are support structures comprised of a bottom flange, a topflange, and a triangular-shaped vertical web element that connects thebottom flange to the top flange, the bottom flange is mounted on thebase platform, and the work platform is mounted on the top flange. 28.The method of claim 27, wherein a ramp portion of the work platform issupported on the triangular-shaped vertical web element.
 29. The methodof claim 18, further comprising positioning at least one gantry relativeto the work platform for moving the robots along a length of the workplatform.
 30. The method of claim 29, wherein the gantry conforms to atapered configuration of the work platform.
 31. The method of claim 29,wherein the gantry is anchored and cantilevered at one end of the baseplatform, so that a remainder of the gantry is positioned above the baseplatform.
 32. The method of claim 18, further comprising providing therobots with at least one of power, control, communications, parts supplyand return using a cable carrier system.
 33. The method of claim 32,wherein the cable carrier system is positioned underneath the workplatform and conforms to a tapered configuration of the work platform.34. The method of claim 18, wherein the work platform includes one ormore removable access panels that provide access to componentsunderneath the work platform for repair, installation or removal.
 35. Amethod for assembly of an aircraft fuselage, comprising: providing abase platform within a fuselage assembly; positioning a work platformabove the base platform for supporting one or more humans within thefuselage assembly, wherein the work platform is narrower than the baseplatform, and the work platform is positioned relative to the baseplatform within the fuselage assembly to provide areas for positioningone or more robots on either or both sides of the work platform; andsupporting the robots on the base platform within the fuselage assemblyindependently of the work platform, so that movement of the workplatform does not affect the robots' positions.
 36. The method of claim35, wherein the work platform is positioned relative to the baseplatform to provide areas for the humans to move along the base platformon one or more sides of the work platform.
 37. The method of claim 36,wherein the work platform is tapered along its length, with a front endthat is wider than a back end, to expose areas of the base platformsufficient for the humans and robots to traverse the base platform andmaneuver around the work platform.
 38. The method of claim 37, whereinthe base platform and work platform are positioned within a fuselageassembly of an aircraft.
 39. The method of claim 38, wherein the frontend of the work platform is positioned at a forward end of the fuselageassembly and the back end of the work platform is positioned at an aftend of the fuselage assembly.
 40. The method of claim 38, wherein thebase platform and work platform together have a low profile height thatallows the humans to access inside the fuselage assembly while standingon the work platform.
 41. The method of claim 37, wherein the workplatform includes a ramp portion adjacent to the front end of the workplatform, and the ramp portion angles downward from the work platform toreside on or above the base platform.
 42. The method of claim 37,wherein the work platform is mounted on one or more risers above thebase platform at the front end of the work platform, while the back endof the work platform is cantilevered above the base platform.
 43. Themethod of claim 42, wherein the back end of the work platform is coupledto a support structure.
 44. The method of claim 42, wherein the risersare support structures comprised of a bottom flange, a top flange, and atriangular-shaped vertical web element that connects the bottom flangeto the top flange, the bottom flange is mounted on the base platform,and the work platform is mounted on the top flange.
 45. The method ofclaim 44, wherein a ramp portion of the work platform is supported onthe triangular-shaped vertical web element.
 46. The method of claim 35,further comprising positioning at least one gantry relative to the workplatform for moving the robots along a length of the work platform. 47.The method of claim 46, wherein the gantry conforms to a taperedconfiguration of the work platform.
 48. The method of claim 46, whereinthe gantry is anchored and cantilevered at one end of the base platform,so that a remainder of the gantry is positioned above the base platform.49. The method of claim 35, further comprising providing the robots withat least one of power, control, communications, parts supply and return,using a cable carrier system.
 50. The method of claim 49, wherein thecable carrier system is positioned underneath the work platform andconforms to a tapered configuration of the work platform.
 51. The methodof claim 35, wherein the work platform includes one or more removableaccess panels that provide access to components underneath the workplatform for repair, installation or removal.